Mecanum: Seperate velocity control #24647

chfriedrich98 · 2025-04-01T13:28:58Z

Solved Problem

Seperated MecanumPosVelControl into MecanumVelControl and MecanumPosControl to bring the module into the following structure (Continuation of #24604):

This introduces this new rover specific setpoint:

MecanumVelocitySetpoint

This PR also streamlines the flow of information between the different controllers: Each level of control will only publish the setpoint for one hierarchy level below (with the exception of the RoverThrottleSetpoint).

This is in preparation of exposing the rover setpoints (all orange uORB messages in the figure above) to DDS.

Test Coverage

Tested in SITL

Hardware tests:

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github-actions · 2025-04-01T13:35:21Z

🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 144 byte (0.01 %)]

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px4_fmu-v6x [Total VM Diff: 136 byte (0.01 %)]

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Updated: 2025-05-05T07:10:45

msg/MecanumVelocitySetpoint.msg

chfriedrich98 · 2025-05-05T07:05:59Z

Rebased on main

chfriedrich98 added the Rover 🚙 label Apr 1, 2025

chfriedrich98 self-assigned this Apr 1, 2025

chfriedrich98 added this to PX4 Rover Apr 1, 2025

chfriedrich98 moved this to 🏗 In Progress in PX4 Rover Apr 1, 2025

chfriedrich98 force-pushed the pr-mecanum_velocity_control branch 2 times, most recently from 3e5f3cc to f2159b0 Compare April 7, 2025 07:23

chfriedrich98 force-pushed the pr-mecanum_velocity_control branch from f2159b0 to 1e9399a Compare April 29, 2025 12:53

chfriedrich98 marked this pull request as ready for review April 29, 2025 13:57

chfriedrich98 requested a review from sfuhrer April 29, 2025 13:57

chfriedrich98 moved this from 🏗 In Progress to 👀 In Review in PX4 Rover Apr 29, 2025

sfuhrer reviewed Apr 30, 2025

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msg/MecanumVelocitySetpoint.msg Show resolved Hide resolved

chfriedrich98 added 2 commits May 5, 2025 09:04

mecanum: separate velocity control

1e3ca6f

mecanum: streamline flow of information

d9d6848

chfriedrich98 force-pushed the pr-mecanum_velocity_control branch from 1e9399a to d9d6848 Compare May 5, 2025 07:04

chfriedrich98 requested a review from sfuhrer May 5, 2025 07:06

sfuhrer approved these changes May 5, 2025

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chfriedrich98 merged commit 4e17c54 into main May 5, 2025
65 of 67 checks passed

chfriedrich98 deleted the pr-mecanum_velocity_control branch May 5, 2025 09:38

github-project-automation bot moved this from 👀 In Review to ✅ Done in PX4 Rover May 5, 2025

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Mecanum: Seperate velocity control #24647

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chfriedrich98 commented Apr 1, 2025 •

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